tracker/pt: add point filter deadzone

8 files changed, 121 insertions, 29 deletions

diff --git a/tracker-pt/FTNoIR_PT_Controls.ui b/tracker-pt/FTNoIR_PT_Controls.ui
index 5a9b1963..7abfe088 100644
--- a/tracker-pt/FTNoIR_PT_Controls.ui
+++ b/tracker-pt/FTNoIR_PT_Controls.ui
@@ -9,10 +9,16 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>387</width>
-    <height>658</height>
+    <width>413</width>
+    <height>683</height>
    </rect>
   </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
   <property name="windowTitle">
    <string>PointTracker Settings</string>
   </property>
@@ -647,26 +653,35 @@
           <string>Point filter</string>
          </property>
          <layout class="QGridLayout" name="gridLayout_12">
-          <item row="0" column="0">
-           <widget class="QCheckBox" name="enable_point_filter">
+          <item row="1" column="1">
+           <widget class="QSlider" name="point_filter_limit_slider">
             <property name="sizePolicy">
-             <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
+             <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
               <horstretch>0</horstretch>
               <verstretch>0</verstretch>
              </sizepolicy>
             </property>
-            <property name="toolTip">
-             <string>Filter point centers prior to pose estimation.</string>
+            <property name="minimum">
+             <number>0</number>
             </property>
-            <property name="text">
-             <string>Enable</string>
+            <property name="maximum">
+             <number>99</number>
+            </property>
+            <property name="singleStep">
+             <number>1</number>
+            </property>
+            <property name="pageStep">
+             <number>10</number>
+            </property>
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
             </property>
            </widget>
           </item>
-          <item row="0" column="2">
-           <widget class="QDoubleSpinBox" name="point_filter_label">
+          <item row="1" column="2">
+           <widget class="QDoubleSpinBox" name="point_filter_limit_label">
             <property name="sizePolicy">
-             <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
+             <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
               <horstretch>0</horstretch>
               <verstretch>0</verstretch>
              </sizepolicy>
@@ -684,14 +699,7 @@
              <enum>QAbstractSpinBox::NoButtons</enum>
             </property>
             <property name="maximum">
-             <double>999.990000000000009</double>
-            </property>
-           </widget>
-          </item>
-          <item row="1" column="0">
-           <widget class="QLabel" name="label_15">
-            <property name="text">
-             <string>Limit</string>
+             <double>1.000000000000000</double>
             </property>
            </widget>
           </item>
@@ -699,7 +707,7 @@
            <widget class="QSlider" name="point_filter_slider">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
-              <horstretch>0</horstretch>
+              <horstretch>10</horstretch>
               <verstretch>0</verstretch>
              </sizepolicy>
             </property>
@@ -720,8 +728,63 @@
             </property>
            </widget>
           </item>
-          <item row="1" column="1">
-           <widget class="QSlider" name="point_filter_limit_slider">
+          <item row="0" column="0">
+           <widget class="QCheckBox" name="enable_point_filter">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="toolTip">
+             <string>Filter point centers prior to pose estimation.</string>
+            </property>
+            <property name="text">
+             <string>Enable</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="0">
+           <widget class="QLabel" name="label_15">
+            <property name="text">
+             <string>Limit</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="2">
+           <widget class="QDoubleSpinBox" name="point_filter_label">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+              <horstretch>2</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="focusPolicy">
+             <enum>Qt::NoFocus</enum>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+            <property name="buttonSymbols">
+             <enum>QAbstractSpinBox::NoButtons</enum>
+            </property>
+            <property name="maximum">
+             <double>999.990000000000009</double>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="0">
+           <widget class="QLabel" name="label_30">
+            <property name="text">
+             <string>Deadzone</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="1">
+           <widget class="QSlider" name="point_filter_deadzone_slider">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
               <horstretch>0</horstretch>
@@ -732,21 +795,21 @@
              <number>0</number>
             </property>
             <property name="maximum">
-             <number>99</number>
+             <number>100</number>
             </property>
             <property name="singleStep">
              <number>1</number>
             </property>
             <property name="pageStep">
-             <number>10</number>
+             <number>3</number>
             </property>
             <property name="orientation">
              <enum>Qt::Horizontal</enum>
             </property>
            </widget>
           </item>
-          <item row="1" column="2">
-           <widget class="QDoubleSpinBox" name="point_filter_limit_label">
+          <item row="2" column="2">
+           <widget class="QDoubleSpinBox" name="point_filter_deadzone_label">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
               <horstretch>0</horstretch>
@@ -765,6 +828,9 @@
             <property name="buttonSymbols">
              <enum>QAbstractSpinBox::NoButtons</enum>
             </property>
+            <property name="suffix">
+             <string> px</string>
+            </property>
             <property name="maximum">
              <double>1.000000000000000</double>
             </property>
@@ -1638,6 +1704,7 @@ Don't roll or change position.</string>
   <tabstop>enable_point_filter</tabstop>
   <tabstop>point_filter_slider</tabstop>
   <tabstop>point_filter_limit_slider</tabstop>
+  <tabstop>point_filter_deadzone_slider</tabstop>
   <tabstop>model_tabs</tabstop>
   <tabstop>clip_tlength_spin</tabstop>
   <tabstop>clip_theight_spin</tabstop>
diff --git a/tracker-pt/ftnoir_tracker_pt_dialog.cpp b/tracker-pt/ftnoir_tracker_pt_dialog.cpp
index 2bab280a..160eb831 100644
--- a/tracker-pt/ftnoir_tracker_pt_dialog.cpp
+++ b/tracker-pt/ftnoir_tracker_pt_dialog.cpp
@@ -126,6 +126,12 @@ TrackerDialog_PT::TrackerDialog_PT(const QString& module_name) :
         [this] { ui.point_filter_limit_label->setValue(*s.point_filter_limit); }, Qt::QueuedConnection);
     ui.point_filter_label->setValue(*s.point_filter_coefficient);
     ui.point_filter_limit_label->setValue(*s.point_filter_limit);
+
+    tie_setting(s.point_filter_deadzone, ui.point_filter_deadzone_slider);
+    ui.point_filter_deadzone_label->setValue(*s.point_filter_deadzone);
+
+    connect(&s.point_filter_deadzone, value_::value_changed<slider_value>(), ui.point_filter_deadzone_label,
+        [this] { ui.point_filter_deadzone_label->setValue(*s.point_filter_deadzone); }, Qt::QueuedConnection);
 }
 
 QString TrackerDialog_PT::threshold_display_text(int threshold_value)
diff --git a/tracker-pt/lang/nl_NL.ts b/tracker-pt/lang/nl_NL.ts
index 72cb5d6d..368b97a0 100644
--- a/tracker-pt/lang/nl_NL.ts
+++ b/tracker-pt/lang/nl_NL.ts
@@ -296,6 +296,10 @@ Don&apos;t roll or change position.</source>
         <source>Grayscale (from hardware)</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Deadzone</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>pt_impl::TrackerDialog_PT</name>
diff --git a/tracker-pt/lang/ru_RU.ts b/tracker-pt/lang/ru_RU.ts
index 469fabd1..43dca4cf 100644
--- a/tracker-pt/lang/ru_RU.ts
+++ b/tracker-pt/lang/ru_RU.ts
@@ -301,6 +301,10 @@ ROLL или X/Y-смещения.</translation>
         <source>Grayscale (from hardware)</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Deadzone</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>pt_impl::TrackerDialog_PT</name>
diff --git a/tracker-pt/lang/stub.ts b/tracker-pt/lang/stub.ts
index e2781648..9cb5daa7 100644
--- a/tracker-pt/lang/stub.ts
+++ b/tracker-pt/lang/stub.ts
@@ -296,6 +296,10 @@ Don&apos;t roll or change position.</source>
         <source>Grayscale (from hardware)</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Deadzone</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>pt_impl::TrackerDialog_PT</name>
diff --git a/tracker-pt/lang/zh_CN.ts b/tracker-pt/lang/zh_CN.ts
index 8e04a130..668672c1 100644
--- a/tracker-pt/lang/zh_CN.ts
+++ b/tracker-pt/lang/zh_CN.ts
@@ -296,6 +296,10 @@ Don&apos;t roll or change position.</source>
         <source>Grayscale (from hardware)</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Deadzone</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>pt_impl::TrackerDialog_PT</name>
diff --git a/tracker-pt/point-filter.cpp b/tracker-pt/point-filter.cpp
index 7548d515..b03562ed 100644
--- a/tracker-pt/point-filter.cpp
+++ b/tracker-pt/point-filter.cpp
@@ -40,12 +40,14 @@ const PointOrder& point_filter::operator()(const PointOrder& input)
         return A * pow((f)10, (f)-log10_pos) * rest;
     );
 
-    f dist = 0;
+    f dist = 0, dz = (float)s.point_filter_deadzone / 800; // sqrt(640^2 + 480^2)
 
     for (unsigned i = 0; i < 3; i++)
     {
         vec2 tmp = input[i] - state_[i];
-        dist = std::max(dist, sqrt(tmp.dot(tmp)));
+        f x = sqrt(tmp.dot(tmp));
+        x = std::max((f)0, x - dz);
+        dist = std::max(dist, x);
     }
 
     if (dist < (f)1e-6)
diff --git a/tracker-pt/pt-settings.hpp b/tracker-pt/pt-settings.hpp
index 54f13283..6f7a18d5 100644
--- a/tracker-pt/pt-settings.hpp
+++ b/tracker-pt/pt-settings.hpp
@@ -71,6 +71,7 @@ struct pt_settings final : options::opts
     value<bool> enable_point_filter{ b, "enable-point-filter", false };
     value<slider_value> point_filter_coefficient { b, "point-filter-coefficient", { 1.0, 0, 4 } };
     value<slider_value> point_filter_limit { b, "point-filter-limit", { 0.1, 0.01, 1 }};
+    value<slider_value> point_filter_deadzone { b, "point-filter-deadzone", {0, 0, 1} };
 
     explicit pt_settings(const QString& name) : opts(name) {}
 };